version: 66.04
glider: 5
mission: 7
dive: 328
start: 10 19 109 2 38 9
data:
$ID,5
$MISSION,7
$DIVE,328
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,0
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106587.71
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,023024,6251.138,-1244.570,40,1.3,40,-11.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.1
$GPS2,023720,6251.098,-1244.601,14,1.2,14,-11.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,-0.108
$KALMAN_X,-13528.1,908.6,-504.3,25068.5,-5864.7
$KALMAN_Y,47079.3,-1090.8,-1455.2,-113357.9,10403.7
$MHEAD_RNG_PITCHd_Wd,127.8,12445,-14.8,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.20,0.000,2,0.000,0.000,418,2152,2719
$GC,83,-1.22,-146.6,2.8,-3.5,3,127,11.18,2.62,-24.88,0.000,4,0.156,0.074,2469,716,3429
$GC,379,-1.15,-146.6,44.1,-13.1,16,385,0.12,2.50,0.00,0.000,6,0.104,0.048,2493,2125,3428
$GC,704,-1.08,-146.6,81.6,-12.2,32,708,0.00,2.58,0.00,0.000,4,0.000,0.061,2493,705,3429
$GC,849,-1.08,-146.6,99.8,-13.4,38,855,0.00,2.53,0.00,0.000,6,0.000,0.048,2494,2131,3429
$GC,1166,-1.02,-146.6,139.0,-11.9,54,1168,0.12,0.00,0.00,0.000,6,0.095,0.000,2520,2131,3429
$GC,1487,-1.02,-146.6,172.7,-9.9,73,1491,0.00,2.58,0.00,0.000,4,0.000,0.061,2520,712,3429
$GC,1520,-1.02,-146.6,176.2,-9.7,75,1524,0.00,2.50,0.00,0.000,6,0.000,0.049,2520,2120,3429
$GC,1839,-1.02,-146.6,207.5,-9.5,95,1844,0.00,2.55,0.00,0.000,4,0.000,0.060,2520,709,3429
$GC,1879,-1.06,-146.6,211.5,-9.9,97,1885,0.00,2.47,0.00,0.000,6,0.000,0.048,2521,2107,3429
$GC,2199,-1.06,-146.6,241.2,-9.1,118,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2105,3429
$GC,2512,-1.06,-146.6,270.4,-9.4,138,2517,0.00,2.53,0.00,0.000,4,0.000,0.062,2520,715,3429
$GC,2563,-1.09,-146.6,275.5,-9.5,141,2567,0.00,2.45,0.00,0.000,6,0.000,0.050,2520,2096,3429
$GC,2883,-1.09,-146.6,306.9,-9.9,161,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2097,3429
$GC,3195,-1.09,-146.6,337.2,-9.8,181,3199,0.00,2.50,0.00,0.000,4,0.000,0.061,2520,710,3429
$GC,3257,-1.14,-146.6,343.7,-10.5,184,3263,0.12,2.42,0.00,0.000,6,0.060,0.051,2487,2076,3429
$GC,3578,-1.08,-146.6,380.2,-11.5,205,3580,0.10,0.00,0.00,0.000,6,0.099,0.000,2508,2077,3428
$GC,3889,-1.08,-146.6,412.1,-9.9,225,3893,0.00,2.47,0.00,0.000,4,0.000,0.064,2508,714,3428
$GC,3923,-1.08,-146.6,415.8,-10.4,227,3927,0.00,2.42,0.00,0.000,6,0.000,0.052,2508,2081,3428
$GC,4253,-1.08,-146.6,447.7,-9.5,248,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2081,3428
$GC,4566,-1.08,-146.6,477.3,-9.2,268,4570,0.00,2.47,0.00,0.000,4,0.000,0.064,2508,717,3428
$GC,4599,-1.08,-146.6,480.4,-9.1,270,4603,0.00,2.40,0.00,0.000,6,0.000,0.052,2508,2064,3428
$GC,4918,-1.08,-146.6,507.7,-8.4,290,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2064,3428
$GC,5231,-1.08,-146.6,533.2,-8.3,310,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2064,3427
$GC,5542,-1.08,-146.6,560.6,-9.4,330,5546,0.00,2.45,0.00,0.000,4,0.000,0.063,2508,717,3427
$GC,5605,-1.08,-146.6,566.8,-9.9,334,5609,0.00,2.38,0.00,0.000,6,0.000,0.053,2508,2049,3427
$GC,5930,-1.08,-146.6,600.1,-10.4,355,5934,0.00,2.70,0.00,0.000,4,0.000,0.071,2508,3534,3427
$GC,6026,-1.08,-146.6,610.5,-11.3,361,6030,0.00,2.67,0.00,0.000,6,0.000,0.060,2508,2055,3427
$GC,6350,-1.08,-146.6,644.4,-9.3,382,6355,0.00,2.40,0.00,0.000,4,0.000,0.067,2509,716,3427
$GC,6429,-1.11,-146.6,652.7,-10.6,386,6435,0.00,2.42,0.00,0.000,6,0.000,0.054,2508,2075,3427
$GC,6748,-1.11,-146.6,683.8,-10.0,407,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2077,3427
$STATE,7042,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7042,begin apogee
$GC,7050,-0.33,0.0,713.8,12.6,426,7186,0.77,0.00,133.07,1.295,6,0.080,0.000,2674,1835,2831
$STATE,7187,end apogee,CONTROL_FINISHED_OK
$STATE,7187,begin climb
$GC,7190,1.22,146.6,719.2,0.0,435,7337,1.52,2.65,135.40,1.256,4,0.061,0.077,3007,462,2233
$GC,7452,1.19,206.5,709.2,5.8,451,7515,0.00,2.53,55.58,1.222,6,0.000,0.058,3007,1862,1989
$GC,7828,1.16,206.5,677.7,9.9,475,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1864,1988
$GC,8140,1.11,206.5,653.2,8.5,495,8144,0.00,2.58,0.00,0.000,4,0.000,0.074,3007,3245,1987
$GC,8186,1.11,206.5,649.5,8.3,498,8190,0.00,2.60,0.00,0.000,6,0.000,0.067,3007,1846,1987
$GC,8510,1.16,239.2,627.1,6.8,519,8545,0.00,2.67,30.23,1.220,4,0.000,0.077,3007,433,1855
$GC,8569,1.12,239.2,622.7,8.0,522,8576,0.00,2.55,0.00,0.000,6,0.000,0.058,3007,1824,1854
$GC,8889,1.12,239.2,597.1,8.6,543,8893,0.00,2.62,0.00,0.000,4,0.000,0.070,3007,3260,1854
$GC,8940,1.12,239.2,592.3,8.8,546,8945,0.00,2.62,0.00,0.000,6,0.000,0.064,3007,1841,1854
$GC,9260,1.12,239.2,562.0,9.6,566,9265,0.00,2.62,0.00,0.000,4,0.000,0.067,3007,3255,1853
$GC,9328,1.12,239.2,555.7,8.5,570,9332,0.00,2.55,0.00,0.000,6,0.000,0.061,3007,1860,1853
$GC,9648,1.12,239.2,526.8,9.1,590,9652,0.00,2.58,0.00,0.000,4,0.000,0.064,3007,3257,1853
$GC,9677,1.12,239.2,524.1,9.4,592,9681,0.00,2.50,0.00,0.000,6,0.000,0.060,3007,1881,1852
$GC,10001,1.12,239.2,493.7,9.4,613,10005,0.00,2.53,0.00,0.000,4,0.000,0.064,3007,3257,1852
$GC,10047,1.12,239.2,489.1,10.2,616,10051,0.00,2.45,0.00,0.000,6,0.000,0.058,3007,1898,1853
$GC,10377,1.12,239.2,456.2,9.9,637,10382,0.00,2.47,0.00,0.000,4,0.000,0.063,3007,3257,1853
$GC,10411,1.12,239.2,452.4,11.0,639,10415,0.00,2.45,0.00,0.000,6,0.000,0.056,3007,1902,1853
$GC,10731,1.12,239.2,421.1,9.5,659,10735,0.00,2.50,0.00,0.000,4,0.000,0.063,3007,3265,1853
$GC,10761,1.12,239.2,418.3,9.8,661,10765,0.00,2.42,0.00,0.000,6,0.000,0.055,3007,1919,1853
$GC,11085,1.12,239.2,387.6,9.5,682,11089,0.00,2.45,0.00,0.000,4,0.000,0.062,3007,3259,1853
$GC,11113,1.12,239.2,384.9,9.8,684,11117,0.00,2.40,0.00,0.000,6,0.000,0.054,3007,1917,1854
$GC,11438,1.12,239.2,355.5,8.7,705,11442,0.00,2.45,0.00,0.000,4,0.000,0.061,3007,3258,1854
$GC,11471,1.12,239.2,352.3,8.8,707,11475,0.00,2.38,0.00,0.000,6,0.000,0.054,3007,1935,1854
$GC,11790,1.12,239.2,325.6,8.3,727,11795,0.00,2.42,0.00,0.000,4,0.000,0.061,3007,3263,1855
$GC,11813,1.12,239.2,323.6,8.7,728,11819,0.00,2.35,0.00,0.000,6,0.000,0.053,3007,1953,1855
$GC,12132,1.12,239.2,297.2,8.2,749,12136,0.00,2.40,0.00,0.000,4,0.000,0.061,3007,3264,1855
$GC,12154,1.12,239.2,295.2,8.4,750,12161,0.00,2.35,0.00,0.000,6,0.000,0.052,3007,1953,1855
$GC,12474,1.12,239.2,269.1,8.2,771,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1953,1855
$GC,12786,1.12,239.2,243.1,8.5,791,12790,0.00,2.38,0.00,0.000,4,0.000,0.060,3007,3258,1855
$GC,12803,1.12,239.2,241.5,8.7,792,12807,0.00,2.33,0.00,0.000,6,0.000,0.051,3007,1954,1856
$GC,13122,1.12,239.2,213.5,8.9,812,13126,0.00,2.38,0.00,0.000,4,0.000,0.060,3007,3259,1855
$GC,13156,1.15,239.2,210.2,9.1,814,13160,0.00,2.30,0.00,0.000,6,0.000,0.050,3007,1970,1856
$GC,13475,1.15,239.2,182.0,8.7,834,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1969,1856
$GC,13787,1.16,249.6,156.7,7.6,854,13804,0.00,2.38,10.52,0.824,4,0.000,0.058,3007,3258,1812
$GC,13815,1.18,260.9,154.4,7.6,855,13831,0.00,2.30,10.95,0.826,6,0.000,0.048,3007,1977,1767
$GC,14149,1.22,282.6,129.3,7.2,872,14174,0.00,2.40,19.17,0.864,4,0.000,0.058,3007,3258,1679
$GC,14188,1.27,288.9,126.3,7.8,873,14200,0.00,2.30,7.15,0.746,6,0.000,0.048,3007,1979,1653
$GC,14523,1.31,288.9,99.5,8.2,890,14525,0.12,0.00,0.00,0.000,6,0.053,0.000,3043,1979,1653
$GC,14832,1.27,288.9,69.5,9.5,905,14833,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1979,1653
$GC,15141,1.23,288.9,36.9,11.2,920,15143,0.15,0.00,0.00,0.000,6,0.089,0.000,3014,1979,1653
$GC,15451,1.26,301.9,10.9,7.5,935,15469,0.00,0.00,12.15,0.757,6,0.000,0.000,3014,1980,1600
$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15549,begin surface coast
$FINISH,0.5,1.014012
$STATE,15571,end surface coast,CONTROL_FINISHED_OK
$STATE,15571,begin surface
$SM_CCo,15655,0.00,0.000,0,0,1599,302.21
$SM_GC,1.48,11.27,0.00,0.00,0.036,0.000,0.000,423,2151,1599,-10.59,0.74,302.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,17.40
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,696.1,26.4
$24V_AH,23.7,53.660
$10V_AH,10.1,24.130
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.500,139.600,414.225,0.000,0.000,37.762,31.074,209.773,19.000,0.000,0.000,14.826,1642.063,11380.525,518.359,1922.434,601.146,33.353,1491.018,0.000,1877.191,0.000,42.891,0.000
$DEVICE_MAMPS,155.701,76.700,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.980,684.497,517.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47326,941
$CAP_FILE_SIZE,127068,0
$CFSIZE,254472192,234233856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,191009,070007,6250.016,-1245.372,25,1.3,25,-11.8